I can think of the following examples off the top of my head:
- Mogadishu (a disaster)
- Fallujah (more like a siege followed by walking into an abandoned city)
- Sadr city (same)
- Baghdad 2003 (basically a raiding attack followed by a surrender)
- Battle of Manila (the US outnumbered the enemy 8 to 1 and it was more like a delaying action)
- Hue (ARVN did most of the fighting)
- Battles in Seoul (mostly retreats or ROK did the fighting)
- Aachen (the US outnumbered the defenders 7 to 1 and they surrendered within a week)
Some interwar policing actions in Tientsin, Veracruz, Phillipines
Some sieges in the Mexican American war that never led to urban warfare
There are a few other battles like bastogne, belleau wood, St lo, etc. but I don't recall these involving any urban combat with US troops.
Is it true that the US army has fought few if any urban battles in its existence? The only two I can really think of are Manila and Aachen.